1. Department of Electrical; Electronical and Automatic Control Engineering and Applied Physics Higher Technical School of Industrial Design and Engineering Universidad Politecnica de Madrid C/ Ronda de Valencia; 3 28012, Madrid Spain
2. Centre for Automation and Robotics; Universidad Politécnica de Madrid, Spain C/ José Gutierrez Abascal; 2 28006, Madrid Spain
3. Intelligent Control Group; University Politécnica de Madrid, Centre for Automation and Robotics (UPM - CSIC), Spain C/ José Gutierrez Abascal; 2 28006, Madrid Spain